CN115854192A - Three-axis photoelectric tracking rack driven by spherical joint - Google Patents
Three-axis photoelectric tracking rack driven by spherical joint Download PDFInfo
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- CN115854192A CN115854192A CN202211529845.0A CN202211529845A CN115854192A CN 115854192 A CN115854192 A CN 115854192A CN 202211529845 A CN202211529845 A CN 202211529845A CN 115854192 A CN115854192 A CN 115854192A
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Abstract
The invention discloses a ball joint driven three-axis photoelectric tracking rack, and belongs to the field of photoelectric tracking equipment. The tracking rack comprises a base, a U-shaped azimuth turntable, an azimuth driving motor, a ball joint motor and a lens cone positioned on a ball joint motor rotor. A driving motor is arranged between the U-shaped azimuth turntable and the base, and the ball joint motor comprises a rotor part and a stator part located on the azimuth turntable. The photoelectric tracking frame utilizes the advantages of small volume, strong vibration isolation capability, small friction and capability of performing multi-free motion of the spherical joint motor, can realize non-blind-area tracking of the target, has compact structure and strong anti-interference capability, and is favorable for miniaturization of the system and improvement of tracking accuracy of the target.
Description
Technical Field
The invention belongs to the field of photoelectric tracking equipment, and particularly relates to a three-axis photoelectric tracking rack driven by a spherical joint.
Background
The tracking rack is a main device used for a rough tracking task in a photoelectric tracking system, and the existing horizontal tracking rack is widely applied to the photoelectric tracking system, but the structure has an inherent defect of a zenith tracking blind area. When an object enters this area, the azimuthal velocity of the tracking gantry increases rapidly to approach infinity in order to track the object. However, in practice, the tracking angular velocity of the inner frame and the outer frame is usually limited and cannot be increased infinitely, so that the visual axis cannot track the target smoothly, the tracking error increases rapidly, and the problems of discontinuous tracking, target loss and the like are caused.
When the target is near the zenith, the distance is short, the signal is strong, and the information can be received more favorably, but the existence of the zenith tracking blind area causes that the advantageous conditions are difficult to be fully utilized. The size of the zenith blind area is related to the tracking performance, precision index, tracking technology (such as composite axis tracking technology, increased current loop negative feedback and the like), target motion characteristic and other factors of the horizontal photoelectric tracking system. The improvement of the control method can further reduce the size of the zenith blind area under the condition of ensuring the tracking precision and the response speed, but the zenith blind area cannot be eliminated, and the better method for fundamentally solving the zenith blind area of the photoelectric tracking system is to select other tracking racks without the zenith blind area. The photoelectric tracking system without zenith blind area has polar axis type, X-Y double-axis type, three-axis type, etc. The polar axis type and the X-Y double axis type are used for transferring a horizon type zenith blind area, the tracking without the blind area cannot be achieved, the three axis type is added with one degree of freedom, and the tracking blind area can be effectively eliminated by properly controlling different degrees of freedom. However, the three-axis tracking frame increases a degree of freedom, thereby increasing a mechanical transmission device, increasing the rotational inertia of the system, bringing additional mechanical friction, and reducing the dynamic performance of the system. There is a need for a tracking rack structure that is both blind-zone-free tracking and more structurally flexible.
Disclosure of Invention
In order to break through the limitation that a zenith tracking blind area exists in a horizontal tracking rack and improve the tracking range and response speed of a photoelectric tracking system, the invention provides a ball joint driven three-axis photoelectric tracking rack.
The invention aims to solve the tracking problem of zenith blind areas of a photoelectric tracking frame, and adopts the technical scheme that:
a three-axis photoelectric tracking rack driven by a ball joint comprises a base, a U-shaped azimuth turntable, an azimuth driving motor, a ball joint motor and a lens cone;
a U-shaped azimuth turntable is arranged on the base, and a driving motor is arranged between the base and the U-shaped azimuth turntable; the U-shaped azimuth turntable is provided with a ball joint motor, the ball joint motor comprises a stator and a rotor, the azimuth turntable is used as the stator of the ball joint motor, stator coils are arranged at two ends of the U-shaped azimuth turntable, the rotor and the stator are connected through a ball joint, and the rotor of the ball joint motor is provided with a lens barrel.
Furthermore, an attitude measurement sensor is mounted on the ball joint motor rotor and used for acquiring the rotating position, the speed and the acceleration of the ball joint motor rotor.
Furthermore, an optical lens, a lens, an image sensor, an infrared distance measuring machine, a calculating unit and a communication unit are arranged in the lens barrel, and target information can be obtained in real time.
Furthermore, a limiting mechanism for limiting the movement of the ball joint rotor is arranged on the U-shaped azimuth turntable, and the limiting mechanism is provided with an anti-collision mechanism, so that the optical element in the lens barrel is prevented from being damaged due to high-speed collision.
Further, when the ball joint motor is designed, the ball joint diameter D, the rolling axis angle δ, the support angle θ and the lens barrel diameter D satisfy the following relation:
when the length of the lens barrel is l, the maximum support angle meets the following conditions:
the invention has the advantages and positive effects that:
the three-axis photoelectric tracking rack provided by the invention is provided with an azimuth axis, a pitching axis and a rolling axis, and can realize non-blind area tracking on a target.
The invention utilizes the advantages of large torque, small volume, simple structure and capability of realizing multi-degree-of-freedom motion of the spherical joint motor, realizes spatial multi-dimensional motion by a single motor, can avoid the adoption of a complex connecting device due to the combination of a plurality of single-degree-of-freedom motors, simplifies the mechanical structure and is beneficial to the miniaturization of a photoelectric tracking system.
The ball joint motor has better vibration isolation capability, has smaller friction by using the ball joint as connection, and can ensure that the output shaft of the rotor can reach an expected continuous track from any initial position.
Drawings
Fig. 1 is a schematic structural diagram of a ball joint driven three-axis photoelectric tracking frame according to the present invention, where 1 is a base, 2 is a U-shaped azimuth turntable, 3 is an azimuth driving motor, 4 is a ball joint motor stator coil, 5 is a ball joint motor rotor, and 6 is a lens barrel.
Fig. 2 is a schematic diagram of the photoelectric tracking frame tracking a horizontal moving object.
Fig. 3 is a schematic view of a ball joint designed in an embodiment of the invention.
FIG. 4 is a schematic diagram of the trajectory tracking motion performed in the simulation software according to the present invention.
Detailed Description
To further illustrate the contents, features and effects of the present invention, the following examples are given as examples and the detailed description of the embodiments is given with reference to the accompanying drawings.
The structural schematic diagram of the tracking rack based on the ball joint motor drive is shown in fig. 1, and the tracking rack comprises a base 1,U type azimuth turntable 2, an azimuth drive motor 3 and a ball joint motor stator coil 4; a ball joint motor rotor 5; a lens barrel 6;
the base 1 is provided with a U-shaped azimuth turntable 2, an azimuth driving motor 3,U type azimuth turntable 2 is arranged between the U-shaped azimuth turntable and the azimuth driving motor 3,U type azimuth turntable and is used as a stator of the ball joint motor, a ball joint motor stator coil 4,U type azimuth turntable 2 is arranged on the U-shaped azimuth turntable and is connected with a ball joint motor rotor 5 through a ball joint, and a lens barrel 6 is arranged on the ball joint motor rotor 5.
Specifically, position driving motor 3 is permanent magnet synchronous motor, and motor stator fixes on base 1, and the rotor is fixed on U type position revolving stage 2, permanent magnet synchronous motor direct drive U type position revolving stage 2 does not have reduction gears, and the motor shaft end is installed the absolute formula photoelectric encoder of high accuracy for accurate detection motor rotation angle.
Specifically, the U-shaped azimuth turntable 2 is of a U-shaped structure, the lower portion of the U-shaped azimuth turntable is fixedly connected with the driving motor and rotates along with the driving motor, and concave spherical surfaces are arranged on two inner sides of the U-shaped azimuth turntable 2 and serve as a shell of a spherical mounting groove of the ball joint motor.
Specifically, the ball joint motor stator coil 4 adopts an air core coil, namely, does not contain an iron core, a copper wire winding is wound on a cylindrical plastic ring with the diameter of 30mm, the coil is uniformly distributed on two sides of the U-shaped azimuth turntable 2 in the horizontal direction, and 5 layers are arranged in the vertical direction.
Specifically, the outside of ball joint motor rotor 5 is the sphere, for the rotation ball core of ball joint, the ball core surface is equipped with evenly distributed's circular shrinkage pool, and the downthehole embedding has a plurality of circular permanent magnets, and after the stator coil was electrified, stator coil and the mutual formation of force effect of permanent magnet for drive ball joint motor rotor moves.
Specifically, the lens barrel 6 has optical lenses, a lens, an image sensor, an infrared distance measuring device, a computing unit, and a communication unit disposed therein, and can acquire target imaging data in real time and maintain communication with peripheral devices.
As shown in fig. 1, the three-axis tracking frame mainly has a vertical axis (Z axis), a rolling axis (x axis), a pitching axis (y axis), and a viewing axis (Z axis), the Z axis is perpendicular to the ground, the y axis is parallel to the ground and perpendicular to the end plane of the azimuth turntable, the x axis is parallel to the ground and perpendicular to the y axis, the x axis, the y axis, and the Z axis are orthogonal to each other, and the x axis and the y axis are at zero positions when the viewing axis points to the zenith. The working range of the Z axis is 0-360 degrees, the working range of the y axis is 0-180 degrees, the working range of the x axis is-delta degrees, and delta can be designed according to the rolling angle required by the system.
The ball joint can be designed according to the requirements of an actual system, as shown in fig. 2, the drawing is a design scheme drawing of the ball joint, wherein theta is a ball joint support angle, delta is a left-right rotation angle of the ball joint, D is a ball joint diameter, D is a lens barrel diameter, l is a lens barrel length, and the support angle theta and the ball joint diameter D satisfy the following relation:
the maximum support angle is:
the three-axis photoelectric tracking machine frame based on the ball joint driving has a very similar principle with the traditional three-axis photoelectric tracking machine frame on avoiding a tracking blind area. As shown in FIG. 3, assuming that an object in space is located at a point A, the horizontal distance and the vertical height from the lens barrel imaging center o are x, respectively 0 And z 0 And the target moves to a point B after time t along a straight line AB at a speed v, the rotating angle of the azimuth direction is alpha, and the rotating angle of the rolling direction is beta, then:
the speed of the azimuth direction and the scrolling direction are respectively:
the accelerations in the azimuth direction and the roll direction are respectively:
when the target enters the zenith blind zone, i.e. x 0 When the angular velocity and the angular acceleration in the azimuth axis direction are located in a neighborhood near the zero point, the angular velocity and the angular acceleration in the azimuth axis direction are very large and even tend to infinity. When the target approaches the horizon due to z 0 Will come into the neighborhood around the zero point and the angular velocity and acceleration of the roll axis will be very large and even tend to infinity. In order to avoid the two situations, when the target is positioned in the zenith blind area, the azimuth axis does not move, the tracking is carried out through the pitching axis and the rolling axis, when the target enters the horizon blind area, the rolling axis does not move, the azimuth axis and the pitching axis are used for tracking, and therefore the tracking blind area can be effectively avoided.
The structure provided by the invention realizes the movement of the pitching shaft and the rolling shaft by utilizing the ball joint motor, and compared with the traditional three-shaft type tracking rack, the structure provided by the invention has the advantages that the ball joint motor has small volume, large moment, strong vibration isolation capability and flexible movement, the complexity of the mechanical structure of the system can be effectively reduced, the miniaturization of the system is facilitated, and simultaneously the disturbance resistance capability of the system and the tracking precision of the system can be enhanced.
FIG. 4 shows the simulation of the over-the-top motion process using software using the structure of the present invention, respectively, where Curve is the motion trajectory, and (a), (b), and (c) are the attitude diagrams of the tracking gantry at three different positions, respectively.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (5)
1. The utility model provides a ball joint driven triaxial photoelectric tracking frame which characterized in that: the tracking rack comprises a base (1), a U-shaped azimuth turntable (2), an azimuth driving motor (3), a ball joint motor and a lens cone (6); a U-shaped azimuth turntable (2) is installed on the base (1), a ball joint motor is installed on the U-shaped azimuth turntable (2), and a lens cone (6) is installed on the ball joint motor;
an azimuth driving motor (3) is arranged between the base (1) and the U-shaped azimuth turntable (2);
the U-shaped azimuth turntable (2) is used as a stator of the ball joint motor, and a ball joint motor stator coil (4) is arranged on the U-shaped azimuth turntable;
the rotor (5) of the ball joint motor is connected with the stator of the ball joint motor on the U-shaped azimuth turntable (2) through a ball joint, and the rotor (5) of the ball joint motor can move in multiple degrees of freedom;
the lens cone is arranged on the ball joint motor rotor (5) and is used as a component of the ball joint motor rotor (5).
2. The ball joint driven three-axis photoelectric tracking frame of claim 1, wherein: and an attitude measuring sensor is arranged on the ball joint motor rotor (5) and is used for acquiring the rotating position, the speed and the acceleration of the ball joint motor rotor (5).
3. The ball joint driven three-axis photoelectric tracking frame of claim 1, wherein: an optical lens, a lens, an image sensor, an infrared distance measuring machine, a calculating unit and a communication unit are arranged in the lens barrel (6), and target information can be obtained in real time.
4. The ball joint driven three-axis photoelectric tracking frame of claim 1, wherein: a limiting mechanism for limiting the movement of the ball joint rotor (5) is arranged on the U-shaped azimuth turntable (2), and the limiting mechanism is provided with an anti-collision mechanism, so that the damage of an optical element in the lens cone caused by high-speed collision is avoided.
5. The ball joint driven three-axis photoelectric tracking frame of claim 1, wherein: when the ball joint motor is designed, the diameter D of the ball joint, the angle delta of the rolling shaft, the support angle theta and the diameter D of the lens cone meet the following requirements:
when the length of the lens barrel is l, the maximum supporting angle satisfies the following conditions:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211529845.0A CN115854192A (en) | 2022-11-30 | 2022-11-30 | Three-axis photoelectric tracking rack driven by spherical joint |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211529845.0A CN115854192A (en) | 2022-11-30 | 2022-11-30 | Three-axis photoelectric tracking rack driven by spherical joint |
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